Unmanned bicycle balance control method based on rate gyroscope

A rate gyro, balance control technology, applied in vehicle position/route/altitude control, program control, attitude control and other directions, which can solve problems such as complex dynamic characteristics

Inactive Publication Date: 2017-07-04
SHENZHEN JING ZHOU TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The unmanned bicycle is a typical unstable system, which is based on the bicycle and is equipped with an actuator that turns the handle and drives the rear wheel. In order to achieve the stable balance of the unmanned bicycle during riding, an anthropomorphic control strategy is adopted. According to daily experience, turn the handlebar upwards in the direction of dumping, so that the gravity component of the dumping of the bike is transferred to the centripetal force of the car body as a curved motion, to avoid the car body from tipping over, and the rider adjusts his own center of gravity, which can assist in turning The bicycle body is corrected from the tilted directi

Method used

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  • Unmanned bicycle balance control method based on rate gyroscope
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  • Unmanned bicycle balance control method based on rate gyroscope

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Embodiment Construction

[0028] combined with figure 1 A kind of unmanned bicycle balance control method based on the rate gyroscope is described in detail as follows, including the following steps:

[0029] (1) Establish the balance system model of the unmanned bicycle;

[0030] (2) Design the upright attitude balance controller and construct the membership function;

[0031] (3) According to the offset signal collected by the offset sensor, the control torque is obtained through the control algorithm and provided to the rate gyroscope frame, thereby generating a corresponding restoring torque on the bicycle frame.

[0032] Among them, the specific implementation of step (1) is based on a theorem: the derivative of the moment of momentum of the mass point relative to the moving point with respect to time is equal to the resultant force of the principal moment of the external force system to the point and the traction inertial force added to the center of mass. The vector sum of the moments, accordi...

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Abstract

An unmanned bicycle balance control method based on a rate gyroscope comprises the following steps: (1) establishing an unmanned bicycle balance system model; (2) designing a vertical attitude balance controller; and (3) according to offset signals collected by an offset sensor, calculating and obtaining a control moment through a control algorithm, and providing the control moment to a rate gyroscope framework so as to generate corresponding restoring moment on a bicycle frame. The unmanned bicycle balance control method based on the rate gyroscope can effectively control the vertical balance of the unmanned bicycle.

Description

technical field [0001] The invention relates to unmanned bicycle technology, in particular to an unmanned bicycle balance control method based on a rate gyroscope. Background technique [0002] Since the birth of mobile robots in the 1960s, researchers have always dreamed of studying unmanned intelligent vehicles. As an important part of intelligent transportation systems, unmanned bicycles eliminate the influence of human uncertainties, not only can improve driving safety, but also It can solve traffic congestion and improve energy efficiency. Baidu once announced the development of complex artificial intelligence unmanned bicycles. This product is an unmanned bicycle with complex artificial intelligence such as environmental perception, planning and self-balancing control. The achievements of deep learning, big data and cloud computing technologies, however, there is no disclosure of technical details. At present, most of them adopt a sports intervention service system wi...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B19/042
CPCG05B19/042G05B2219/2612G05B2219/2637G05D1/0891G05D2201/0213
Inventor 不公告发明人
Owner SHENZHEN JING ZHOU TECH CO LTD
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